Most solar system objects have never been observed at wavelengths longer than the R band with an angular resolution better than 1 sec. The Hubble Space Telescope itself has only recently been equipped to observe in the infrared. However, because of its small diameter, the angular resolution is lower than that one can now achieved from the ground with adaptive optics, and time allocated to planetary science is limited. We have been using adaptive optics (AO) on a 4-m class telescope to obtain 0.1 sec resolution images solar system objects at far red and near infrared wavelengths (0.7-2.5 micron) which best discriminate their spectral signatures. Our efforts has been put into areas of research for which high angular resolution is essential, such as the mapping of Titan and of large asteroids, the dynamics and composition of Neptune stratospheric clouds, the infrared photometry of Pluto, Charon, and close satellites previously undetected from the ground.